One of the requirements of enabling a robot to see in 3D is to move its gaze to match the target. Vergence is the disconjugate horizontal rotation of the cameras to move their gaze over the target. Tracking is the conjugate rotation. The difference in the two images captured by stereoscopic cameras (disparity), is a sufficient measure to accomplish both of these tasks. We reviewed studies of how cat visual cortex measures disparity, combined this disparity-energy model with neurophysiological models of vergence control, and developed a system which also controls horizontal tracking. Experiments confirm the operation of the system with software and inexpensive custom hardware. An architecture is presented for the implementation of this project in analog VLSI hardware, and will show a high degree of parallelism, low power consumption, real-time operation, flexibility and scalability. We discuss how to compare this vision system with others.

One of the requirements of enabling a robot to see in 3D is to move its gaze to match the target. Vergence is the disconjugate horizontal rotation of the cameras to move their gaze over the target. Tracking is the conjugate rotation. The difference in the two images captured by stereoscopic cameras (disparity), is a sufficient measure to accomplish both of these tasks. We reviewed studies of how cat visual cortex measures disparity, combined this disparity-energy model with neurophysiological models of vergence control, and developed a system which also controls horizontal tracking. Experiments confirm the operation of the system with software and inexpensive custom hardware. An architecture is presented for the implementation of this project in analog VLSI hardware, and will show a high degree of parallelism, low power consumption, real-time operation, flexibility and scalability. We discuss how to compare this vision system with others.

en_US

dc.type

text

en_US

dc.type

Thesis-Reproduction (electronic)

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dc.subject

Engineering, Electronics and Electrical.

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dc.subject

Computer Science.

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thesis.degree.name

M.S.

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thesis.degree.level

masters

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thesis.degree.discipline

Graduate College

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thesis.degree.discipline

Electrical and Computer Engineering

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thesis.degree.grantor

University of Arizona

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dc.contributor.advisor

Higgins, Charles M.

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dc.identifier.proquest

1402029

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dc.identifier.bibrecord

.b41166152

en_US

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